p-Chlorostyrene oligomers. Preparation,structure, and stereochemistry

The dimer and trimer obtained by the pyrolysis of poly(p-chlorostyrene) were 2,4-di(p-chlorophenyl)-1-butene and 2,4,6-tri(p-chlorophenyl)-1-hexene, respectively, while those obtained by the cationic oligomerization of p-chlorostyrene were trans-1,3-di(p-chlorophenyl)-1-butene and a diastereomeric pair of trans-1,3,5-tri-(p-chlorophenyl)-1-hexene.     

Autonomous robot navigation in outdoor cluttered pedestrian walkways

This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors, which include wheel encoders, an inertial measurement unit, a differential global positioning system, and four laser scanner sensors. All the computation was done on a single laptop computer. A previously constructed map containing waypoints and landmarks for position correction is given to the robot. The robot system's perception, road extraction, and motion planning are detailed. The system was used and tested in a 1‐km autonomous robot navigation challenge held in the City of Tsukuba, Japan, named “Tsukuba Challenge 2007.” The proposed approach proved to be robust for outdoor navigation in cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation. © 2009 Wiley Periodicals, Inc.     

Formulation study of topically applied O/W lotion containing vitamin D3 derivative, focusing on skin permeability of the drug

Permeation of 22-oxacalcitriol-1α, 25-dihydroxyvitamin D(3) (OCT) through excited hairless mouse skin was determined after application of OCT as solutions and O/W lotions consisted of different polarities of solvents: medium-chain fatty acid triglyceride (MCT), myristate isopropyl (IPM), 1,3-butylene glycol (1,3-BG), and propylene glycol (PG). OCT concentration in skin was also followed after applying these formulations. A two-layer diffusion model was composed to analyze dermatopharmacokinetic profiles of OCT for each vehicle. In the OCT solutions, skin permeation profile of OCT differed depending on solvent polarity. The O/W lotion with a high MCT content led to a low amount of OCT in skin. On the other hand, the O/W lotion with a high 1,3-BG content led to a high amount of OCT in skin. This dermatopharmacokinetic analysis indicated that addition of MCT to the formulation decreases the skin/vehicle partition coefficient of OCT and increases the diffusion coefficient of OCT in skin. However, the opposite effects on these two parameters were found in the case of 1,3-BG. Thus, skin permeability of OCT differed depending on the solvents used in the formulation. These results indicate that skin permeability of OCT is influenced by the physicochemical properties (i.e. polarity) of OCT, solvent, and skin. Our findings on the solvent effects of the skin permeability of OCT are thus useful for designing topical drug formulation, especially in aiming for bioequivalent dosage formulas.     

Hopping height control for hopping robots

In recent years, legged robots have progressed and are able to walk just like human beings. Hopping offers a possibility of moving faster and avoiding larger obstacles than walking. Thus, hopping becomes more significant. Copyright © 2004 Wiley Periodicals, Inc. In this paper, to take account of torque limits of motors, we propose the method of controlling the hopping height by changing the leg length at bottom. Considering an actual environment, the environment will change as the robot moves around. Therefore, we describe a way to estimate the actual thrust force. Using the estimated thrust force, command value of leg length in the landing phase is determined. The effectiveness of the proposed method is confirmed by simulation and experimental results. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 64–71, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20172     

Enhanced bioactivity of polyvinylidene chloride films using argon ion bombardment for guided bone regeneration

Polyvinylidene chloride (PVDC) is a long chain carbon synthetic polymer. The objective of this study was to improve the bioactivity of PVDC films through surface modification using argon (Ar) ion bombardment to create Ar-modified PVDC films (Ar-PVDC) to address the clinical problems of guided bone regeneration (GBR), which is technique-sensitive, and low bone regenerative ability. First, the effects of Ar ion bombardment, a low temperature plasma etching technique widely used in industry, on PVDC film wettability, surface chemistry, and morphology were confirmed. Next, fibroblast-like and osteoblast-like cell attachment and proliferation on Ar-PVDC were assessed. As a preclinical in vivo study, Ar-PVDC was used to cover a critical-sized bone defect on rat calvaria and osteoconductivity was evaluated by micro-computed tomography analysis and histological examinations. We found that the contact angle of PVDC film decreased by 50° because of the production of –OH groups on the PVDC film surface, though surface morphological was unchanged at 30 min after Ar ion bombardment. We demonstrated that cell attachment increased by about 40 % and proliferation by more than 140 % because of increased wettability, and 2.4 times greater bone regeneration was observed at week 3 with Ar-PVDC compared with untreated PVDC films. These results suggest that Ar ion bombardment modification of PVDC surfaces improves osteoconductivity, indicating its potential to increase bone deposition during GBR.     

Photoluminescence properties of a hollandite compound K2Ga2Sn6O16

A hollandite compound K₂Ga₂Sn₆O₁₆ (KGSO) has photocatalytic activity, although little is known about the optical properties of the compound. To design a higher quality photocatalyst, studies on its optical properties are required. In this study, a KGSO powder and a SnO₂ (rutile structure) powder were prepared by the sol—gel method. Photoluminescence (PL) and PL excitation spectra of the two powders were measured. To our knowledge, this is the first report of PL from a hollandite compound. It was found that the band gap energy of the KGSO powder is 3.6 eV, the value of which is identical with that of the band gap energy of SnO₂. This was confirmed by the result of the photoacoustic spectrum of the KGSO. The shapes of the PL excitation spectra of the two powders agreed. Moreover, the PL spectra of the two powders have one broad band around 600 nm. From these results, one can conclude that the mechanism of PL of KGSO is the same as that of SnO₂. In air with ethanol, however, the time-course of the KGSO powder was different from that of the SnO₂ powder. By adding ethanol vapor in air, the PL intensity of the SnO₂ powder increased, whereas the PL intensity of the KGSO powder remained unchanged. By comparing the PL time-courses of the two powders with those of a commercial rutile TiO₂ powder, it was concluded that the photodesorption of O₂ in air with ethanol occurs on the SnO₂ powder, not on the KGSO powder. This was supported by the results of the inorganic carbon concentrations on the two powders. These results indicate that the behavior of O₂ on the KGSO surface during a photocatalytic oxidation is different from that on the SnO₂ surface during the oxidation.

© 2003 Elsevier Ltd. All rights reserved.     

Fabrication of 60 nm pitch ordered InP pillars by EB-lithography and anodization

We obtained ordered 60 nm pitch InP triangular vertical pillars with a high density of approximately 50% by combining electron-beam lithography and anodization techniques. For the lower dose condition of 2.3 × 10⁻⁶ nC/dot, triangular pillars of 70% density were observed within 5% of the average pillar size (Fig. 2). Furthermore, using dry etching transfer onto SiO₂, we obtained ordered 40 nm pitch pillars and observed photoluminescence intensity compa-rable to that from bulk InP substrates, indicating negligible nonradiative recombination.